CN104656242A - Endoscope binocular optical system with double objective lens and single image sensor - Google Patents
Endoscope binocular optical system with double objective lens and single image sensor Download PDFInfo
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- CN104656242A CN104656242A CN201310598248.8A CN201310598248A CN104656242A CN 104656242 A CN104656242 A CN 104656242A CN 201310598248 A CN201310598248 A CN 201310598248A CN 104656242 A CN104656242 A CN 104656242A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/02—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices involving prisms or mirrors
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Abstract
The invention is applicable to the technical field of endoscopes, and provides an endoscope binocular optical system with double objective lens and a single image sensor. The endoscope binocular optical system comprises a first optical lens set and a second optical lens set which are arranged in parallel, as well as the image sensor, wherein each of the first optical lens set and the second optical lens set comprises a first lens, a second lens, a diaphragm and a third lens which are arranged in sequence in the light incidence direction; a prism is arranged in the emergent direction of each third lens; the incidence surface and emergent surface of each prism are parallel; the image sensor is arranged in the emergent directions of the two prisms; the emergent surfaces of the two prisms are coplanar, and correspond to different areas of target surfaces of the image sensor. The invention provides an image sensor target surface partition technology, only the single image sensor is needed to be adopted, so that the working diameter of an endoscope can be effectively reduced, wider space is provided for the selection of the image sensor, the diameters of the two objective lenses are not needed to be greatly reduced, and further, the cost is greatly reduced; the system is a superfine endoscope optical system with relatively high cost performance, and can be applied to the fields of industrial inspection, medical treatment and the like.
Description
Technical field
The invention belongs to endoscopic technique field, particularly a kind of endoscope binocular optical system of doublet single image sensor.
Background technology
At present, endoscopic technique has been widely applied to the fields such as medical treatment, aviation, shipbuilding, automobile assembling.Industrial endoscope is as a kind of novel non-destructive detecting device, it has expanded the sighting distance of human eye, breach visual constraints, accurately clearly can observe the situation of machinery and equipment inside and accessory inner surface, as the degree of wear of workpiece, slight crack, burr and foreign matter etc., avoid that equipment unnecessary in checking process decomposes, dismounting and the parts damage that may cause, greatly save maintenance cost, and convenient and practical, be important testing tool indispensable in current industrial circle.Three-dimensional dimension measuring technique is the key link of modernization development of manufacturing, and along with the continuous lifting of industrial manufacturing level, increasing product parts have employed a large amount of irregular complex-curved, needs to carry out a large amount of three-dimensional measurements in its actual production process.
The binocular stereo imaging function of endoscope is the prerequisite of carrying out three-dimensional measurement, although binocular stereo imaging technology belongs to very proven technique theoretically, but due to the restriction of endoscope product in bulk, especially the three-dimensional measurement endoscope of diameter within 10mm of the working portion in chamber is inserted, its technical difficulty is higher, be mainly manifested in process aspect, especially there is very large difficulty with the assembly technology aspect of submillimeter level part (comprising optical element), so domestic main industrial endoscope manufacturer cannot produce probe working diameter so far within 10mm and have the industrial endoscope product of three-dimensional measurement function, and the working diameter that the ultra-fine vestibule endoscope under some occasions is popped one's head in has very high requirement, therefore the binocular three-dimensional measurement endoscope researching and developing a kind of working diameter extra small is particularly necessary.
In three-dimensional measurement endoscopic system, in order to realize measurement in space, two-way optical system must be had to absorb left and right separate picture, then carry out three-dimensional reconstruction by software.The binocular optical system that current most three-dimensional measurement endoscope product adopts mainly contains following two kinds of technical schemes:
(1) doublet, double image sensor imaging technique: adopt the object lens that two optical parametrics are identical, on the imageing sensor target surface of difference imaging to two identical parameters, the picture signal that image processing software intercepts in two imageing sensors simultaneously carries out three-dimensional reconstruction.
(2) doublet, single image sensor timesharing imaging technique: adopt the object lens that two optical parametrics are identical, two mechanical shutters are set in its rear respectively, folding two shutters are replaced by micromotor or crystallite vibration timesharing, make two object lens timesharing imagings on imageing sensor target surface, then carry out three-dimensional reconstruction by computer software.
Doublet, double image sensor imaging technique scheme, owing to there being two imageing sensors, consider small size requirement, so comparatively strict to the requirement of imageing sensor volume, need to use the little imageing sensor of ultra micro, the cost of this type of imageing sensor is very high.Doublet, single image sensor timesharing imaging technique have fine requirement for the fast gate technique of fine motion, if process bad, greatly will reduce the reliability of product.
Summary of the invention
The object of the present invention is to provide a kind of endoscope binocular optical system of doublet single image sensor, realize the small size of three-dimensional measurement endoscope and the object of high performance-price ratio by the structure of uniqueness.
The present invention realizes like this, the endoscope binocular optical system of doublet single image sensor, comprise the first optical frames group and the second optical frames group that are set up in parallel, described first optical frames group and the second optical frames group include: the first lens, the second lens, diaphragm and the 3rd lens that set gradually along light incident direction, exit direction in each described 3rd lens is respectively provided with a prism, and the plane of incidence of described prism is parallel with exit facet;
Described endoscope binocular optical system also comprises an imageing sensor, is arranged at the exit direction of two prisms, and the exit facet of two prisms is coplanar and corresponding with the zones of different of the target surface of described imageing sensor.
The present invention proposes imageing sensor target surface partitioning technique, provides the superfine endoscope binocular optical system of the doublet based on this technology, single image sensor, and this system tool has the following advantages:
First, by being provided with prism after object lens (comprising the first lens, the second lens and the 3rd lens), the optical axis translation of imaging beam is imaged on two zoness of different of same imageing sensor and can not mutually disturbs, do not need employing two imageing sensors, the working diameter of endoscope can be effectively reduced, meet the requirement detected in the lumen pore of some passage aisles; And adopt this objective lens arrangement also by image-forming range axial elongation, the space that prism provides enough can be thought;
The second, owing to only adopting an imageing sensor, therefore appropriateness can reduce requirement to image sensor size, thus in the selection of imageing sensor, there is space widely, use or the purchase cost of imageing sensor can be reduced;
3rd, optical axis translation is realized owing to have employed prism, can very easily two-beam be imaged on an imageing sensor, too need not reduce the diameter of two object lens, and then significantly reduce difficulty of processing and cost, because when objective lens diameter little to a certain extent time, the reduction with diameter increases rapidly by its difficulty of processing, be difficult to realize.
This endoscopic system is simple for structure, cost is lower, good stability, is easy to realize, and is the superfine endoscope system that a kind of cost performance is higher, can be widely used in the field such as industrial detection and medical treatment.
Accompanying drawing explanation
Fig. 1 is the structural representation of the endoscope binocular optical system of the doublet single image sensor that the embodiment of the present invention provides;
Fig. 2 is the part-structure schematic diagram of the optical system that the embodiment of the present invention provides;
Fig. 3 is the prism location schematic diagram of the optical system that the embodiment of the present invention provides;
Fig. 4 is doublet and the light-source structure schematic diagram of the optical system that the embodiment of the present invention provides;
Fig. 5 is the light-source structure schematic diagram of the optical system that the embodiment of the present invention provides;
Fig. 6 is the optical frames group structural representation of the optical system that the embodiment of the present invention provides;
Fig. 7 is the imageing sensor protective sleeve structural representation of the optical system that the embodiment of the present invention provides;
Fig. 8 is the objective lens support structural representation of the optical system that the embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Below in conjunction with specific embodiment, specific implementation of the present invention is described in detail:
Fig. 1 shows the structural representation of the endoscope binocular optical system of the doublet single image sensor that the embodiment of the present invention provides, Fig. 2 shows the part-structure schematic diagram of the optical system shown in Fig. 1, for convenience of explanation, illustrate only part related to the present embodiment.
Please refer to Fig. 1,2, the endoscope binocular optical system of the doublet single image sensor that the present embodiment provides comprises: the two-way optical frames group be set up in parallel, i.e. the first optical frames group and the second optical frames group, composition structure and the optical parametric of the first optical frames group and the second optical frames group are identical, include: the first lens 1, second lens 2, diaphragm 4 and the 3rd lens 3 that set gradually along light incident direction, the light exit direction that prism 5, imageing sensor 6 is arranged at two prisms 5 is also respectively provided with in the exit direction of each 3rd lens 3.Wherein, the plane of incidence 51 of prism 5 is parallel to each other with exit facet 52 and vertical with the optical axis of optical frames group, the plane of incidence 51 of prism 5 is just to the 3rd lens 3, exit facet 52 is just to the photosensitive target surface of imageing sensor 6, and coplanar and respectively two of the corresponding photosensitive target surface different regions of the exit facet of two prisms 5, like this, by prism 5 two-way optical information is sent to the zones of different on same imageing sensor 6, only need an imageing sensor 6 can complete the collection of two-way optical information, can ensure that the working diameter of endoscope reaches expectation index.Vision signal is passed to the image pick-up card of rear end by this imageing sensor 6, simulating signal is converted to digital signal by image pick-up card, through 3-dimensional image synthesis special software to the Image Segmentation Using of imageing sensor 6, thus form two width images, and carry out three-dimensional reconstruction and dimensional measurement by 3-dimensional image composite software.
In the present embodiment, because the focal length of endoscopic system is very short, prism 5 must occupy larger space, and the first above-mentioned lens 1, second lens 2 and the 3rd lens 3 solve this problem, by arranging above-mentioned first lens 1, second lens 2 and the 3rd lens 3 in prism 5 front, image-forming range is elongated vertically, ensure that the smooth imaging of endoscopic system.Two optical frames groups of this endoscope have following optical parametric: image height: y=0.9mm(considers distortion); Angle of half field-of view ω=50 °; Focal length: f=0.6485mm; Relative aperture: D/f=1/6; Object distance: L=25mm; Wavelength band: λ=0.486 ~ 0.656 μm.
In the present embodiment, because the target surface limited area of imageing sensor 6, adopt two prisms 5 the optical axis translation of two-way light beam can be imaged on same imageing sensor 6.Refer to Fig. 2,3, preferably, two prisms 5 is parallelepiped structure, and in lateral parts bonding, make that the exit facet 52 of two prisms 5 is coplanar to connect, the optical axis direction now along optical frames group is observed, the adhesive surface 53 of prism 5 should and two the 3rd lens central point between line θ at angle, by calculating, have the endoscopic system of above-mentioned optical parametric, this angle θ is 22.54 °.By the exit facet 52 of two prisms 5 is close together, make two parts image close to and separatrix is enough clear, separatrix width between two images depends on the bonding tightness degree (can be approximately zero width) of two prisms 5, and two parts optical information be by different prisms 5 transmission and exit facet is underlapped, therefore also can not mutually disturb, therefore, can the translation of two-way imaging beam be imaged on imageing sensor 6 so that minimum area is glitch-free by this prism design, more be conducive to the working diameter reducing endoscope.
With further reference to Fig. 1, this endoscope binocular optical system comprises object lens cover glass 7 further, is arranged at the incident side of the first lens 1, directly contacts with testee to prevent optical frames group; Also comprise illumination LED substrate 8; with reference to figure 4 and Fig. 5; it has two symmetrical scallop 81; optical axis direction along the first or second optical frames group is looked; two scallop 81 and two object lens cover glasses 7 or two first lens 1 are arranged in cruciform; this criss-cross illumination and objective lens arrangement compact small and exquisite, be conducive to controlling the working diameter of endoscope.Each scallop 81 respectively has a LED light source 82, specifically can adopt low-power consumption, LED light source that high brightness, colour temperature are greater than 5600K, the outer face of LED light source 82 can be concordant with the outer face of object lens cover glass 7.Further, fill with black epoxy glue in the gap of two LED light sources 82, guarantee that the light that LED light source 82 sends can not interfere with two optical frames groups.
With further reference to Fig. 1 and Fig. 2, the exit facet 52 of the prism of this endoscope binocular optical system is also provided with optical filter 9, and for the veiling glare in " filtration " imaging beam, the exit facet of optical filter 9 can be glued together by the target surface glass of light-sensitive emulsion and imageing sensor 6.
With further reference to Fig. 1 and Fig. 6; the first lens 1, second lens 2 in the embodiment of the present invention and the 3rd lens 3 can be fixed in same lens barrel 10; and adopt preposition spacer ring 11 isolated between the first lens 1 and the second lens 2; second lens 2 and the 3rd lens 3 by rearmounted spacer ring 12 and diaphragm 4 isolated; object lens cover glass 7 is arranged (can be bonding) in lens barrel 10 front end; and fixed by object lens cover 13, object lens cover 13 is also fixed by socket mutually with lens barrel 10.Prism 5 is fixed in lens barrel 10 rear by prism table 14, and imageing sensor 6 is arranged in imageing sensor protective sleeve 15, and is fixed on the rear end of prism table 14, and the structure of imageing sensor protective sleeve 15 as shown in Figure 7.Two groups of optical frames groups are fixed by the objective lens support 16 of tubular; the structure of objective lens support 16 as shown in Figure 8; objective lens support 16 is sheathed on optical frames group periphery to fix the relative position of two groups of optical frames groups, and rear end and the imageing sensor protective sleeve 15 of objective lens support 16 are fixed by socket mutually.In addition, the above-mentioned each device involved by the present embodiment is encapsulated by a metal shell 17, and object lens cover 13, objective lens support 16, imageing sensor protective sleeve 15 etc. glue together by the inside surface of epoxy glue and metal shell 17.
The present invention proposes imageing sensor target surface partitioning technique, provides the superfine endoscope binocular optical system of the doublet based on this technology, single image sensor, and this system tool has the following advantages:
First, by being provided with prism 5 after object lens (comprising the first lens 1, second lens 2 and the 3rd lens 3), by the optical axis translation of imaging beam and be imaged on same imageing sensor 6 two zoness of different (and by by two prisms 5 part bonding make its exit facet enough close, can make imaging area less) and can not mutually disturb, do not need employing two imageing sensors, the working diameter of endoscope can be effectively reduced, meet the requirement detected in the lumen pore of some passage aisles; And adopt this objective lens arrangement also by image-forming range axial elongation, the space that prism provides enough can be thought;
The second, owing to only adopting an imageing sensor 6, therefore appropriateness can reduce requirement to image sensor size, thus in the selection of imageing sensor, there is space widely, use or the purchase cost of imageing sensor can be reduced;
3rd, optical axis translation is realized owing to have employed prism 5, can very easily two-beam be imaged on an imageing sensor, too need not reduce the diameter of two object lens, and then significantly reduce difficulty of processing and cost, because when objective lens diameter little to a certain extent time, the reduction with diameter increases rapidly by its difficulty of processing, be difficult to realize.
Therefore, endoscopic system provided by the invention is simple for structure, cost is lower, good stability, be easy to realize, it is the superfine endoscope system that a kind of cost performance is higher, and have employed LED light source, assembly technology is simple, and cost is low, life-span is long, overcomes not high, the flimsy defect of conventional endoscope optical fibre illumination coupling efficiency.This endoscopic system is applicable to detect in various passage aisle chamber, can be widely used in the field such as industrial detection and medical treatment.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the endoscope binocular optical system of doublet single image sensor, it is characterized in that, comprise the first optical frames group and the second optical frames group that are set up in parallel, described first optical frames group and the second optical frames group include: the first lens, the second lens, diaphragm and the 3rd lens that set gradually along light incident direction, exit direction in each described 3rd lens is respectively provided with a prism, and the plane of incidence of described prism is parallel with exit facet;
Described endoscope binocular optical system also comprises an imageing sensor, is arranged at the exit direction of two prisms, and the exit facet of two prisms is coplanar and corresponding with the zones of different of the target surface of described imageing sensor.
2. endoscope binocular optical system as claimed in claim 1, it is characterized in that, the optical parametric of described first optical frames group and the second optical frames group is: image height is 0.9mm; Angle of half field-of view is 50 °; Focal length is 0.6485mm; Relative aperture is 1/6; Object distance is 25mm; Wavelength band 0.486 ~ 0.656 μm.
3. endoscope binocular optical system as claimed in claim 1, it is characterized in that, described prism is parallelepiped structure, and the lateral parts bonding of two described prisms makes the coplanar docking of two exit facets.
4. endoscope binocular optical system as claimed in claim 3, it is characterized in that, between the central point of the adhesive surface of described two prisms and two the 3rd lens, the angle of line is 22.54 °.
5. endoscope binocular optical system as claimed in claim 1, it is characterized in that, the incident side of described first lens is provided with object lens cover glass.
6. endoscope binocular optical system as claimed in claim 1, it is characterized in that, the exit facet of described prism is provided with optical filter.
7. the endoscope binocular optical system as described in any one of claim 1 to 6, it is characterized in that, described endoscope binocular optical system also comprises illumination LED substrate, described illumination LED substrate comprises two symmetrical scallop, described two scallop and two the first lens are crossing distribution, in each described scallop, be respectively provided with a LED light source.
8. endoscope binocular optical system as claimed in claim 7, is characterized in that, the gap of two described LED light sources adopts black epoxy glue to fill.
9. the endoscope binocular optical system as described in any one of claim 1 to 6, is characterized in that, described first lens and the second lens are isolated by preposition spacer ring, described second lens and the 3rd lens by rearmounted spacer ring and diaphragm isolated.
10. the endoscope binocular optical system as described in any one of claim 1 to 6; it is characterized in that; described first optical frames group and the second optical frames group are fixed by objective lens support; described imageing sensor is fixed by imageing sensor protective sleeve, and described objective lens support and described imageing sensor protective sleeve are socketed mutually.
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| CN106361255A (en) * | 2016-11-10 | 2017-02-01 | 微创（上海）医疗机器人有限公司 | 3d electronic endoscope |
| CN106667418A (en) * | 2016-11-22 | 2017-05-17 | 珠海维尔康生物科技有限公司 | Endoscope |
| CN108549145A (en) * | 2018-05-30 | 2018-09-18 | 四川远瞻智汇科技有限公司 | A kind of new construction of list object binocular |
| CN108803003A (en) * | 2018-08-21 | 2018-11-13 | 武汉功匠内窥镜设备有限公司 | A kind of endoscope lens module |
| CN110049708A (en) * | 2016-12-07 | 2019-07-23 | 奥林巴斯株式会社 | Stereo photographic device and stereo endoscope |
| CN110426837A (en) * | 2019-07-19 | 2019-11-08 | 青岛智能产业技术研究院 | More mesh three-dimensional endoscopic imaging systems based on simple lens |
| CN110811489A (en) * | 2019-12-11 | 2020-02-21 | 深圳先进技术研究院 | Capsule endoscope with 3D measuring function and corresponding imaging method |
| CN110840386A (en) * | 2019-12-19 | 2020-02-28 | 中国科学院长春光学精密机械与物理研究所 | Visible light and near-infrared fluorescence 3D common imaging endoscope system based on single detector |
| CN115054183A (en) * | 2022-08-19 | 2022-09-16 | 广东欧谱曼迪科技有限公司 | Adjustable imaging assembly of 3D endoscope, 3D endoscope and imaging system |
| CN116473491A (en) * | 2023-04-21 | 2023-07-25 | 极限人工智能有限公司 | 3D electronic endoscope lens and 3D electronic endoscope |
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| DE102017117374A1 (en) * | 2017-08-01 | 2019-02-07 | Olympus Winter & Ibe Gmbh | Prism arrangement for a stereo video endoscope |
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| CN108803003A (en) * | 2018-08-21 | 2018-11-13 | 武汉功匠内窥镜设备有限公司 | A kind of endoscope lens module |
| CN110426837A (en) * | 2019-07-19 | 2019-11-08 | 青岛智能产业技术研究院 | More mesh three-dimensional endoscopic imaging systems based on simple lens |
| CN110811489A (en) * | 2019-12-11 | 2020-02-21 | 深圳先进技术研究院 | Capsule endoscope with 3D measuring function and corresponding imaging method |
| CN110840386A (en) * | 2019-12-19 | 2020-02-28 | 中国科学院长春光学精密机械与物理研究所 | Visible light and near-infrared fluorescence 3D common imaging endoscope system based on single detector |
| CN115054183A (en) * | 2022-08-19 | 2022-09-16 | 广东欧谱曼迪科技有限公司 | Adjustable imaging assembly of 3D endoscope, 3D endoscope and imaging system |
| CN116473491A (en) * | 2023-04-21 | 2023-07-25 | 极限人工智能有限公司 | 3D electronic endoscope lens and 3D electronic endoscope |
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| CN104656242B (en) | 2016-10-05 |
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